AntiTipping – Stabilization Library for FRC (TechMaker)

AntiTipping is a lightweight and efficient library developed by TechMaker Robotics to help FRC and FTC teams prevent their robots from tipping over during operation. It uses IMU-based pitch and roll readings to compute a proportional corrective velocity that can be added to your drive commands, improving stability under rapid acceleration, collisions, or uneven terrain.

Features

• Detects excessive tilt using pitch and roll.
• Computes correction direction and magnitude automatically.
• Outputs a ChassisSpeeds object ready to merge with your drive system.
• Fully compatible with WPILib.
• Easy to configure: proportional gain (kP), tipping threshold, and maximum correction speed.

Installation

Simply copy the AntiTipping.java file into your project under: